Talks between President Donald Trump and North Korean leader Kim Jong Un produced few specific new commitments by Pyongyang to surrender its nuclear weapons, pushing any deal on timing and verification of disarmament to future negotiations.

Some of the biggest developments weren't in the document signed by the two leaders. Speaking to reporters a few hours later, Mr. Trump said he would cease "tremendously expensive" joint military exercises with South Korea, a move he thought would be welcomed by Mr. Kim.